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Allowed ubxtool to listen to gpsd's gpspipe so that gpsd and galmon can co-exists #166

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Allowed ubxtool to listen to gpsd's gpspipe so that gpsd and galmon can co-exists #166

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afcb7d8
ubx message errors now in hex to ublox match interface manual
mahtin Jan 8, 2024
4c12cc7
gpspipe can be piped into read loop, swversion/hwversion etc moved to…
mahtin Jan 8, 2024
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208 changes: 191 additions & 17 deletions ubxtool.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -292,9 +292,13 @@ bool sendAndWaitForUBXAckNack(int fd, int seconds, basic_string_view<uint8_t> ms
return false;
}

static bool version9 = false;
static bool m8t = false;
static string hwversion = "";
static string swversion = "";
static string mods = "";
static string serialno = "";


bool version9 = false;
void enableUBXMessageOnPort(int fd, uint8_t ubxClass, uint8_t ubxType, uint8_t port, uint8_t rate=1)
{
for(int n=0 ; n < 5; ++n) {
Expand Down Expand Up @@ -406,10 +410,133 @@ void doTermios(int fd, bool doRTSCTS)
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - tty set"<<endl; }
}

static int start_gpspipe()
{
int fd;
int pipe_fd[2];
if (pipe(pipe_fd) < 0) {
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - pipe() failed: "<<strerror(errno)<<endl; }
throw runtime_error("pipe()");
}
pid_t child_pid;
if ((child_pid = fork()) < 0) {
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - fork() failed: "<<strerror(errno)<<endl; }
throw runtime_error("fork()");
} else if (child_pid == 0) {
/* Child doesn't need read end of pipe; but should move write to stdout (i.e. 1) */
close(pipe_fd[0]);
dup2(pipe_fd[1], 1);
close(pipe_fd[1]);
/* gpspipe -R | ./ubxtool ... */
execl("/usr/bin/gpspipe", "gpspipe", "-R", (char*)0);
// if that failes, then lets use $PATH - which wasn't the first choice
execlp("gpspipe", "gpspipe", "-R", (char*)0);
/* not reached! */
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - execl() failed: "<<strerror(errno)<<endl; }
throw runtime_error("execl()");
} else {
/* Parent doesn't need write end of pipe */
close(pipe_fd[1]);
/* Parent returns read end of pipe */
fd = pipe_fd[0];
}
return fd;
}

static void process_gpspipe(const int fd)
{
/*
* The first three lines from gpspipe are JSON lines with info on the devices etc.
* {"class":"VERSION","release":"3.22","rev":"3.22","proto_major":3,"proto_minor":14}
* {"class":"DEVICES","devices":[{"class":"DEVICE","path":"/dev/ttyS0","driver":"u-blox","subtype":"SW EXT CORE 1.00 (61b2dd),HW 00190000","subtype1":"ROM BASE 0x118B2060,FWVER=HPG 1.12,PROTVER=27.11,MOD=ZED-F9P,GPS;GLO;GAL;BDS,QZSS","activated":"2024-01-08T17:22:08.400Z","flags":1,"native":1,"bps":38400,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.02},{"class":"DEVICE","path":"/dev/pps0","driver":"PPS","activated":"2024-01-08T17:22:08.000Z"}]}
* {"class":"WATCH","enable":true,"json":false,"nmea":false,"raw":2,"scaled":false,"timing":false,"split24":false,"pps":false}
*/
for (int ii=0;ii<3;ii++) {
string line_of_json = "";
int count_braces = 0;
char buf[1];
while(read(fd, &buf, 1) == 1) {
if (buf[0] == '{') {
count_braces += 1;
} else if (buf[0] == '}') {
count_braces -= 1;
} else if (buf[0] == '\r') {
continue;
}
if (buf[0] == '\n' and count_braces == 0) {
break;
}
line_of_json += string(buf, (size_t)1);
}
if (line_of_json.find("\"class\":\"VERSION\"") != string::npos) {
// not used
continue;
}
if (line_of_json.find("\"class\":\"WATCH\"") != string::npos) {
// not used
continue;
}

if (doDEBUG) { cerr<<humanTimeNow()<<" - process_gpspipe() DEVICES found: "<<line_of_json<<endl; }

/* copied from ask for version code below */
if (line_of_json.find("F9") != string::npos) {
version9=true;
if (doDEBUG) { cerr<<humanTimeNow()<<" version9=true;"<<endl; }
}
if (line_of_json.find("M8T") != string::npos) {
m8t=true;
if (doDEBUG) { cerr<<humanTimeNow()<<" m8t=true;"<<endl; }
}
if (line_of_json.find("MOD=") != string::npos) {
size_t offset;
offset = line_of_json.find("MOD=");
string m = line_of_json.substr(offset+4);
offset = m.find(",");
mods += m.substr(0, offset);
if (doDEBUG) { cerr<<humanTimeNow()<<" mods="<<mods<<endl; }
}
if (line_of_json.find("\"subtype\":\"") != string::npos) {
size_t offset;
string m, subtype;

offset = line_of_json.find("\"subtype\":\"");
m = line_of_json.substr(offset+11);
offset = m.find("\"");
subtype = m.substr(0, offset);
if (subtype.find("SW ") != string::npos) {
offset = subtype.find("SW ");
m = subtype.substr(offset+3);
offset = m.find(",");
swversion = m.substr(0, offset);
}
if (subtype.find("HW ") != string::npos) {
offset = subtype.find("HW ");
m = subtype.substr(offset+3);
offset = m.find("\"");
hwversion = m.substr(0, offset);
}
// we can't find the serial number; so we fake it somewhat!
serialno = "0000000000";
if (doDEBUG) { cerr<<humanTimeNow()<<" swVersion: "<<swversion<<endl; }
if (doDEBUG) { cerr<<humanTimeNow()<<" hwVersion: "<<hwversion<<endl; }
if (doDEBUG) { cerr<<humanTimeNow()<<" Serial number: "<<serialno<<endl; }
}
}
}

int initFD(const char* fname, bool doRTSCTS)
{
int fd;
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD()"<<endl; }
if (string(fname) == "gpspipe") {
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - using 'gpspipe -R | ubxtool ...' command"<<endl; }
fd = start_gpspipe();
g_fromFile = true;
/* The first three lines are important - they tell us what the device is (and more) */
process_gpspipe(fd);
return fd;
}
if (!isPresent(fname)) {
if (doDEBUG) { cerr<<humanTimeNow()<<" initFD - "<<fname<<" - not present"<<endl; }
throw runtime_error("Opening file "+string(fname));
Expand Down Expand Up @@ -567,9 +694,6 @@ int main(int argc, char** argv)
exit(1);
}

if(baudrate)
g_baudval = getBaudrate(baudrate);

if(!(doGPS || doGalileo || doGlonass || doBeidou)) {
cerr<<"Enable at least one of --gps, --galileo, --glonass, --beidou"<<endl;
return EXIT_FAILURE;
Expand All @@ -590,17 +714,15 @@ int main(int argc, char** argv)
ns.addDestination(1);

int fd = initFD(portName.c_str(), doRTSCTS);
if(!baudrate)
baudrate = getBaudrateFromSymbol(g_baudval);
if (!g_fromFile) {
if(baudrate)
g_baudval = getBaudrate(baudrate);
if(!baudrate)
baudrate = getBaudrateFromSymbol(g_baudval);
}

if(doFakeFix) // hack
version9 = true;
bool m8t = false;

string hwversion;
string swversion;
string mods;
string serialno;

if(!g_fromFile) {
bool doInit = true;
Expand Down Expand Up @@ -1172,7 +1294,7 @@ int main(int argc, char** argv)
if(!doFakeFix) {
if(!g_gnssutc.tv_sec) {

if (doDEBUG) { cerr<<humanTimeNow()<<" Ignoring message with class "<<(int)msg.getClass()<< " and type "<< (int)msg.getType()<<": have not yet received a timestamp"<<endl; }
if (doDEBUG) { cerr<<humanTimeNow()<<" Ignoring UBX message: "<<fmt::format("({:#04x} {:#04x})", msg.getClass(), msg.getType())<<" - have not yet received a timestamp"<<endl; }
continue;
}
}
Expand Down Expand Up @@ -1901,16 +2023,68 @@ int main(int argc, char** argv)
// cerr << "TIMEGPS itow: "<<tstate.gps.itow<<", ftow: "<<tstate.gps.ftow<<", tAcc: "<<tstate.gps.tAcc<< ", valid: "<< !!tstate.gps.valid<<endl;
tstate.transmitIfComplete(ns);
}
else
if (doDEBUG) { cerr<<humanTimeNow()<<" Unknown UBX message of class "<<(int) msg.getClass() <<" and type "<< (int) msg.getType()<< " of "<<payload.size()<<" bytes"<<endl; }
else
if(msg.getClass() == 0x01 && msg.getType() == 0x04) { // UBX-NAV-DOP
// Dilution of precision
struct Dop {
uint32_t iTOW;
uint16_t gDOP, pDOP, tDOP, vDOP, hDOP, nDOP, eDOP;
} __attribute__((packed));
Dop dop;
memcpy(&dop, payload.c_str(), sizeof(Dop));
// cerr << "UBX-NAV-DOP iTOW: "<<(unsigned int)dop.iTOW<<endl;
// ignored!
}
else
if(msg.getClass() == 0x01 && msg.getType() == 0x11) { // UBX-NAV-VELECEF
// Velocity solution in ECEF
struct Vsol {
uint32_t iTOW;
// etc ... not fully coded (not needed)
} __attribute__((packed));
Vsol vsol;
memcpy(&vsol, payload.c_str(), sizeof(Vsol));
// cerr << "UBX-NAV-VELECEF iTOW: "<<(unsigned int)vsol.iTOW<<endl;
// ignored!
}
else
if(msg.getClass() == 0x01 && msg.getType() == 0x26) { // UBX-NAV-TIMELS
// Leap second event information
struct TimeLS {
uint32_t iTOW;
uint8_t version;
uint8_t reserved0[3];
// etc ... not fully coded (not needed)
} __attribute__((packed));
TimeLS timels;
memcpy(&timels, payload.c_str(), sizeof(TimeLS));
// cerr << "UBX-NAV-TIMELS iTOW: "<<(unsigned int)timels.iTOW<<endl;
// ignored!
}
else
if(msg.getClass() == 0x01 && msg.getType() == 0x61) { // UBX-NAV-EOE
// End of epoch
struct Eoe {
uint32_t iTOW;
} __attribute__((packed));
Eoe eoe;
memcpy(&eoe, payload.c_str(), sizeof(Eoe));
// cerr << "UBX-NAV-EOE iTOW: "<<(unsigned int)eoe.iTOW<<endl;
// ignored!
}
else
if (doDEBUG) { cerr<<humanTimeNow()<<" Unknown UBX message: "<<fmt::format("({:#04x} {:#04x})", msg.getClass(), msg.getType())<<" of "<<payload.size()<<" bytes"<<endl; }

// writen2(1, payload.d_raw.c_str(),msg.d_raw.size());
}
catch(UBXMessage::BadChecksum &e) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Bad UBX checksum, skipping message"<<endl; }
}
catch(EofException& em) {
break;
if (doDEBUG) { cerr<<humanTimeNow()<<" EofException"<<endl; }
// we really need to exit at this point - there's no more input to be had!
if (g_fromFile)
exit(1);
}
}
cerr<<"Done after reading "<<lseek(fd, 0, SEEK_CUR)<<" bytes, flushing buffers.."<<endl;
Expand Down